raisim::urdf::UrdfBody

struct · #include <raisim/object/ArticulatedSystem/loaders.hpp>

Internal: URDF visual or collision element parsed by LoadFromURDF2.

Constructors & destructor

UrdfBody

UrdfBody()

Public attributes

shape

Shape::Type shape

Shape type for the URDF visual or collision element.

fileName

std::string fileName

Mesh file name for mesh shapes.

origin

Vec<3> origin

Position offset in link frame.

rot

Mat<3, 3> rot

Orientation offset in link frame.

scale

Vec<3> scale

Per-axis scale for mesh shapes.

param

Vec<4> param

Shape parameters (dimension depends on shape type).

color

raisim::Vec<4> color

RGBA color override.

mat

std::string mat

Visual material name.

collision_mat

std::string collision_mat

Collision material name.

name

std::string name

Body element name.